A factorisation model of robotic tasks

Abstract

The implantation of programs which gives a robot the ability to perform a non-repetitive task (task not completely defined called also unexpected), was hindered by a complex problem: the difficulty met by the classical method in programming (procedural) to formulate a task which the evolution model does not obey to an algorithmic pre-established design. As a part of that the aim of this paper is to propose an analysis approach which lies on a mechanism of factorisation of the complex task. The idea developed consists of subdividing the activity of programming into two steps. A descriptive step which allows the formulation of a complex task using a functional approach without integrating any element to the construction of an executing program and a constructive step which develops a program using the preceding formulation. This program expresses, more or less explicitly, the way of solving different problems posed by the execution of the task at the level of a robot. The aspect of time is introduced as a logical form in the last step for the sequencing of actions while executing a task.